Information processing device, information processing method, program product, and aircraft system

Abstract

The present invention provides safe flight for an aircraft even in areas where wireless communication including position reports from the aircraft is not available. The aircraft is controlled to limit the number of aircraft entering an exclusive controlled airspace, which includes an area where the aircraft cannot report its position. For example, the control unit limits the number of aircraft entering the exclusive controlled airspace to one. For example, when receiving an approach request from an aircraft entering the exclusive controlled airspace, the control unit sends an approach permission to the aircraft in the absence of other aircraft in the exclusive controlled airspace. In this case, for example, in the presence of other aircraft in the exclusive controlled airspace, a standby indication is sent to the aircraft.

Description

Technical Field

[0001] The present technology relates to an information processing device, an information processing method, a program, and an aircraft system, and more particularly, to an information processing device and the like for enabling an aircraft to fly even in, for example, an area where wireless communication is unavailable. Background Art

[0002] Conventionally, as a method for controlling drones as flying machines, the following mechanism for preventing collisions between drones has been studied. In this mechanism, the drones under control respectively report their own positions to the control system at regular intervals. Therefore, the control system grasps the positions of the drones under control and issues avoidance instructions in the event that the drones are too close to each other and there is a risk of collision. In order to control the drones with this mechanism, it is necessary to enable the control system and the drones to constantly communicate with each other wirelessly.

[0003] For example, Patent Document 1 describes a technology for preventing an aircraft from being in a state where the aircraft cannot perform wireless communication during flight by storing position information about a position where the radio wave of a base station does not satisfy a predetermined reception condition and setting the position in a no-fly zone. In this case, wireless communication failure between the control system and the drone can be avoided, but it is impossible to allow the aircraft to fly in an airspace where wireless communication is unavailable, resulting in the inconvenience of being unable to effectively use the airspace where wireless communication is unavailable.

[0004] Citation List

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2017-120534 Summary of the invention

[0007] Problems to be solved by the present invention

[0008] One object of the present technology is to allow an aircraft to fly safely even in an area where wireless communication is unavailable or the like where the aircraft cannot report its own position.

[0009] Solutions to the Problem

[0010] The concept of the present technology resides in an information processing device, which includes:

[0011] A control control unit performs control so as to limit the number of aircraft entering an exclusive controlled airspace, the exclusive controlled airspace including an area where aircraft cannot report their own positions.

[0012] In the present technology, control is performed by a control control unit in a manner that limits the number of aircraft that enter an exclusive control airspace. Here, the exclusive control airspace is an airspace including an area where aircraft cannot report their own positions. For example, the special control area may be an airspace including an area where aircraft cannot perform wireless communication or an area where aircraft cannot obtain their own positions. Aircraft cannot report their own positions in these areas. In addition, for example, the aircraft may be a drone.

[0013] For example, the control unit may limit the number of aircraft that enter the exclusive controlled airspace to 1. In this case, for example, in a case where the control control unit receives an entry request from one of the aircraft that want to enter the exclusive controlled airspace, when no aircraft other than the one of the aircraft enters the exclusive controlled airspace, the control control unit may send an entry permit to the one of the aircraft. In this case, for example, when any aircraft other than the one of the aircraft enters the exclusive controlled airspace, a standby indication may be sent to the one of the aircraft.

[0014] Furthermore, in this case, for example, in the case where the control control unit receives an entry application from the one of the aircraft that wants to enter the exclusive controlled airspace, when no aircraft other than the one of the aircraft enters the exclusive controlled airspace, when entry permission is sent to the aircraft, or when an entry notification is received from the aircraft, the control control unit may update the entry aircraft information of the exclusive controlled airspace. Then, in this case, for example, the exclusive controlled airspace may include a special control area that is an area where self-position reporting cannot be performed and an entry / exit control area that is set around the special control area. Furthermore, the entry application may be received before the one of the aircraft enters the entry / exit control area, and the entry notification may be received after the one of the aircraft enters the entry / exit control area.

[0015] In addition, for example, in the case where the control control unit receives a departure request from one of the aircraft that wants to leave the exclusive controlled airspace, when there are no other aircraft around the one of the aircraft, the control control unit may send a departure permission to the one of the aircraft. In this case, for example, when there are any other aircraft around the one of the aircraft, the control control unit may send a standby instruction to the one of the aircraft.

[0016] Furthermore, in this case, for example, when a go-out application is received from the one of the aircraft that wants to leave the exclusive controlled airspace, when a go-out permission is sent to the aircraft, or when a go-out notification is received from the one of the aircraft to which the go-out permission has been sent, the control control unit may update the entry aircraft information of the exclusive controlled airspace. Then, in this case, for example, when there are a predetermined number of aircraft in an entry waiting state, the control control unit may send the entry permission to the aircraft that is in the waiting state the earliest. Furthermore, in this case, for example, the exclusive controlled airspace may include a special control area and an entry / exit control area, the special control area being an area where self-position reporting cannot be performed, and the entry / exit control area being set around the special control area. Furthermore, the go-out application may be received after the one of the aircraft enters the entry / exit control area, and the go-out notification may be received after the one of the aircraft leaves the entry / exit control area.

[0017] In addition, for example, in a case where an aircraft that does not have the ability to avoid other aircraft has entered the exclusive controlled airspace, when an aircraft that does not have the ability to avoid other aircraft exists in the exclusive controlled airspace, the control control unit can limit the number of aircraft entering the exclusive controlled airspace to 1.

[0018] In addition, for example, in the case where an aircraft having the ability to avoid other aircraft has entered the exclusive controlled airspace, the control control unit may allow the aircraft having the ability to avoid other aircraft to enter the exclusive controlled airspace. In this case, for example, the control control unit may be configured so that, in the case where the number of aircraft having entered the exclusive controlled airspace and having the ability to avoid other aircraft reaches an upper limit, the control control unit does not allow the aircraft having the ability to avoid other aircraft to enter the exclusive controlled airspace.

[0019] In addition, for example, the control control unit may be configured so that, in the case where an aircraft having the ability to avoid other aircraft has entered the exclusive controlled airspace, the control control unit does not allow an aircraft without the ability to avoid other aircraft to enter the exclusive controlled airspace. For example, in this case, the control control unit may be configured so that, before all aircraft that have entered the exclusive controlled airspace leave the exclusive controlled airspace, the control control unit does not allow an aircraft without the ability to avoid other aircraft to enter the exclusive controlled airspace.

[0020] As described above, in the present technology, control is performed in a manner that limits the number of aircraft that enter the exclusive controlled airspace including the area where the self-position report cannot be made. Therefore, even within the exclusive controlled airspace, aircraft can be allowed to fly safely, thereby making effective use of the exclusive controlled airspace.

[0021] In addition, another concept of the present technology exists in an aircraft system, which includes:

[0022] control systems; and

[0023] The presence of a predetermined number of aircraft in the control airspace of the control system,

[0024] Among them, exclusive control airspace is set up, which includes areas where aircraft cannot report their own positions to the control system.

[0025] When an aircraft passes through an exclusive controlled airspace, the aircraft sends an entry request and an exit request to the control system, and

[0026] The control system performs control so that the number of aircraft entering the exclusive controlled airspace is limited based on entry requests and exit requests sent from the aircraft.

[0027] In the present technology, a control system and a predetermined number of aircraft existing in a control airspace of the control system are included. An exclusive control airspace is provided, which includes an area where aircraft cannot report their own positions to the control system. In the case where an aircraft passes through the exclusive control airspace, an entry request and an exit request are sent to the control system. In addition, in the control system, control is performed so that the number of aircraft entering the exclusive control airspace is limited based on the entry request and exit request sent from the aircraft.

[0028] As described above, in the present technology, control is performed in the control system so that the number of aircraft entering the exclusive controlled airspace is limited based on the entry application and exit application sent from the aircraft to the control system. Therefore, even within the exclusive controlled airspace, aircraft can be allowed to fly safely, so that the exclusive controlled airspace can be effectively utilized. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a diagram showing a configuration example of an aircraft system.

[0030] Figure 2 is a diagram showing an example of setting a special control area and an entry / exit control area, wherein the special control area and the entry / exit control area are represented as a grid diagram.

[0031] Figure 3 is a diagram showing an example of setting a special control area and an entry / exit control area in the following case: If the entire area where communication is difficult is regarded as exclusive because the area is a large area such as a mountainous area, the efficiency of using the airspace is significantly reduced.

[0032] Figure 4This is a diagram showing an example of setting a special control area and an entry / exit control area in a case where it is difficult to turn an area where communication is difficult into a closed area (for example, a case of flying from land to sea).

[0033] Figure 5 This is a diagram showing an overview of the control that the control system is to perform on a drone passing through an exclusive control airspace.

[0034] Figure 6 is a diagram showing a configuration example of a control system.

[0035] Figure 7 is a diagram showing an example of incoming drone information to be managed by an exclusive controlled airspace entry management unit.

[0036] Figure 8 2. It is a diagram showing an example of entry application pending drone information to be managed by the exclusive controlled airspace entry management unit.

[0037] Fig. 9 is a diagram showing a configuration example of a drone.

[0038] Fig.10 : is a diagram showing the approximate location of each waypoint set on a drone flight path that intersects the exclusive controlled airspace.

[0039] Fig.11 is a diagram showing a list of waypoint types.

[0040] Fig.12 is a diagram that describes the control sequence to be executed when a drone passes through exclusive controlled airspace.

[0041] Fig.13 It is a sequence diagram showing the operational process to be performed before two UAVs under the control of the monitoring system complete passing through the exclusive controlled airspace.

[0042] Fig.14 A diagram used to describe the control sequence to be executed when a drone passes through dedicated controlled airspace.

[0043] Fig.15 A diagram used to describe the control sequence to be executed when a drone passes through dedicated controlled airspace.

[0044] Fig.16 is a flowchart showing an example of a processing procedure to be performed by the control system in the event that an entry application is received.

[0045] Fig.17 is a flowchart showing an example of a processing procedure to be performed by the control system when an entry notification is received.

[0046] Fig.18is a flowchart showing an example of a processing procedure to be executed by the control system in the case where an outgoing application is received.

[0047] Fig.19 is a flowchart showing an example of a processing procedure to be performed by the control system in the event that an outgoing notification is received.

[0048] Fig. 20 is a block diagram showing an example configuration of a drone capable of avoiding other aircraft.

[0049] Fig.21 is a diagram showing an example of incoming drone information to be managed by an exclusive controlled airspace entry management unit.

[0050] Fig. 22 2. It is a diagram showing an example of entry application pending drone information to be managed by the exclusive controlled airspace entry management unit.

[0051] Fig.23 is a flowchart showing an example of a processing procedure to be performed by the control system in the event that an entry application is received.

[0052] Fig.24 is a flowchart showing an example of a processing procedure to be performed by the control system in the event that an outgoing notification is received. DETAILED DESCRIPTION

[0053] A mode for carrying out the present invention (hereinafter referred to as an "embodiment") will be described below. Note that the description will be provided in the following order.

[0054] 1. First Embodiment

[0055] 2. Second Embodiment

[0056] 3. Changes

[0057] <1. First Embodiment>

[0058] "Configuration Example for Aircraft Systems"

[0059] Figure 1 A configuration example of an aircraft system 10 as a first embodiment is shown. The aircraft system 10 includes a control system 100 and a predetermined number of drones 200 existing in an airspace controlled by the control system 100. Here, three drones 200 are included in the aircraft system 10. Here, the drones 200 form an aircraft.

[0060] In the aircraft system 10, the controlled drones 200 respectively report their own positions to the control system 100 periodically so that the control system 100 can grasp the positions of the controlled drones 200. Then, in the case where the drones 200 are too close to each other and there is a risk of collision, the control system 100 issues an avoidance instruction to the drones 200 and controls the drones 200 to avoid collision between the drones 200.

[0061] Furthermore, in the aircraft system 10, the control system 100 performs control so that only a single drone 200 enters the exclusive control airspace including an area where the drone 200 cannot report its own position to the control system 100. By controlling the aircraft in this manner, the aircraft can be allowed to fly safely even in the exclusive control airspace, so that the special control area can be effectively utilized.

[0062] Here, the area where the drone 200 cannot report its own position corresponds to an area where the drone 200 cannot perform wireless communication or an area where the drone 200 cannot obtain its own position. In these areas, the drone 200 cannot report its own position to the control system 100. In the case where a plurality of drones 200 enter the area, the control system 100 cannot provide an instruction to avoid collision between the drones 200 because the control system 100 cannot grasp the position of each drone 200. Note that the above-mentioned area where wireless communication cannot be performed includes an area where wireless communication is extremely unstable.

[0063] Assume a case where the control system 100 receives an entry request from a drone 200 that wants to enter a special control area. When no other drone 200 has entered the special control area, the control system 100 sends an entry permit to the drone 200 that has made the entry request. At the same time, when any other drone 200 has entered the special control area, the control system 100 sends a standby instruction to the drone 200 that has made the entry request. In addition, the control system 100 updates the drone information entering the exclusive control airspace when sending the entry permit.

[0064] Furthermore, it is assumed that the control system 100 receives a go-out request from a drone 200 that wants to leave the exclusive control airspace. When there are no other drones 200 around the drone 200 that has made the go-out request, the control system 100 sends a go-out permission to the drone 200 that has made the go-out request. At the same time, when there are any other drones 200 around the drone 200 that has made the go-out request, the control system 100 sends a standby instruction to the drone 200 that has made the go-out request.

[0065] In addition, when the control system 100 receives a departure notification from the drone 200 to which the departure permission is sent, the control system 100 updates the entry drone information of the exclusive control airspace. Then, in this case, when there are a predetermined number of aircraft in the entry waiting state, the control system 100 sends the entry permission to the drone 200 that is in the waiting state the earliest.

[0066] In this embodiment, the exclusive control airspace includes a special control area and an entry / exit control area group. The special control area is an area where the self-position report cannot be performed. The entry / exit control area is set around the special control area. In other words, the exclusive control airspace includes two areas, the special control area and the entry / exit control area.

[0067] As described above, the special control area is an area where the drone 200 cannot perform wireless communication (including an area where wireless communication is extremely unstable) or an area where the drone 200 cannot obtain its own position. That is, the special control area is an area over which the control system 100 cannot perform normal control. For example, the special control area will be acquired by a drone flying alone or by measurement by other means. Note that the controlled drone 200 can report to the control system 100 the airspace in which the drone 200 cannot perform communication or obtain its own position, so that information about the special control area can be created / updated based on the report.

[0068] The entry / exit control area is an area set around the special control area and used to control the drone 200 entering and leaving the special control area. Unlike the special control area, the entry / exit control area is an area where the drone 200 can report its own position to the control system 100.

[0069] For example, the width W of the airspace set as the entry / exit control area is determined in consideration of the average moving speed of the drone 200 and the interval at which the drone 200 attempts to communicate with the control system 100. For example, assuming that the estimated moving speed is 10 [m / s], communication is attempted at intervals of 1 [s], and the drone 200 attempts communication three times before establishing communication after entering the area where communication can be performed, the width W is defined as shown in the following equation (1).

[0070] W = 10 [m / s] × 1 [s] × 3 [times] = 30 [m]… (1)

[0071] In the case of managing the airspace in a grid shape of, for example, 3 [m] squares, if it is known that it is difficult to perform communication in the grid, the grid is defined as a special control area. Then, for example, dilation processing in image processing is performed on the special control area until the width of the entry / exit control area reaches a desired value. Therefore, the entire area can be set as an exclusive control airspace, and the area increased by the dilation processing can be set as the entry / exit control area.

[0072] Figure 2 An example of setting a special control area and an entry / exit control area is shown, wherein the special control area and the entry / exit control area are represented as a grid diagram. In this example, the grid size is set to 3 [m] squares, and the width of the entry / exit control area is 2 grids = 6 [m].

[0073] In addition, in the case of managing airspace in a vector format, the special control area and the exclusive control airspace can be set as follows. If it is known that it is difficult to communicate in the area, the area is defined as a special control area. The exclusive control airspace is set by using the Minkowski sum of the area and a circle with a radius equal to the width of the above-mentioned entry / exit control area.

[0074] Note that it is conceivable that there is a case where if the entire area where communication is difficult is regarded as exclusive, the efficiency of using the airspace may be significantly reduced because the area is a vast area such as a mountainous area. In this case, based on the flight plan of the drone 200, such as Figure 3 The dedicated control airspace is set as shown. That is, considering the influence of weather and the performance of the drone 200, an area with sufficient width is set as a special control area for the path of the drone 200. Then, the entry / exit control area is arranged before and after the special control area on the flight plan path.

[0075] In addition, there may be a situation where it is difficult to turn an area where communication is difficult into a closed area, such as when flying from land to sea. In this case, it is possible to Figure 4 The exclusive control airspace is set as shown. That is, taking into account the influence of weather and drone performance, an area cut out in a strip or radial shape with a sufficient width is set as a special control area based on the path of the flight plan of the drone 200. Then, an entry / exit control area is placed on the side (in this case, the land side) where the drone 200 enters / exits the area.

[0076] "Overview of Controls in Exclusively Controlled Airspace"

[0077] Figure 5The following is an overview of the control to be performed by the control system 100 on the drones 200A and 200B passing through the exclusive control airspace. This situation is based on the following assumptions: there is an exclusive control airspace on the paths of the drones 200A and 200B, the drone 200A flies closer to the exclusive control airspace than the drone 200B, and the drone 200A enters the exclusive control airspace earlier than the drone 200B.

[0078] First, the drone 200A sends an entry request to the control system 100 before entering the exclusive controlled airspace. In response to this, the control system 100 sends an entry permission to the drone 200A because no other drone has entered the exclusive controlled airspace. When sending the entry permission, the control system 100 adds the information of the drone A to the entering drone information to indicate that the drone 200A is entering the exclusive controlled airspace.

[0079] After receiving the entry permission from the control system 100, the drone 200A enters the exclusive control airspace and flies along the flight path. When the drone 200A has entered the entry / exit control area, the drone 200A sends an entry notification to the control system 100. The drone 200A then enters the special control area and flies along the flight path.

[0080] When receiving the entry notification from the drone 200A, the control system 100 updates the drone information entering the special control area. For example, in this case, the entry notification time of the drone A is added.

[0081] Next, when the drone 200A is in the exclusive controlled airspace, the drone 200B sends an entry request to the control system 100 before entering the exclusive controlled airspace. In response to this, the control system 100 sends a standby instruction to the drone 200B because the drone 200A has entered the exclusive controlled airspace. Upon receiving the standby instruction from the control system 100, the drone 200B waits without entering the exclusive controlled airspace.

[0082] Next, the drone 200A sends a go-out request to the control system 100 when flying in the entry / exit control area before leaving the exclusive control airspace. In response to this, the control system 100 sends a go-out permission to the drone 200A because there are no other drones around the drone 200A.

[0083] After receiving the exit permission from the control system 100, the drone 200A leaves the exclusive controlled airspace and flies along the flight path. When the drone 200A leaves the exclusive controlled airspace, the drone 200A sends an exit notification to the control system 100.

[0084] Upon receiving the exit notification from the drone 200A, the control system 100 deletes the information about the drone A from the entry drone information to indicate that the drone 200A has left the exclusive controlled airspace. In addition, at this time, since the drone 200B is in a waiting state, the control system 100 sends an entry permission to the drone 200B. When sending the entry permission, the control system 100 adds the information about the drone B to the entry drone information to indicate that the drone 200B is entering the exclusive controlled airspace.

[0085] After receiving the entry permission from the control system 100, the drone 200B enters the exclusive control airspace and flies along the flight path. Although detailed description is omitted, the drone 200B and the control system 100 then operate in the same manner as in the case of the above-described drone 200A.

[0086] "Configuration example of control system"

[0087] Figure 6 1 shows a configuration example of the control system 100. Part or all of the processing of each unit in the control system 100 can be implemented by software processing to be executed by a computer. The control system 100 includes a communication unit 101, an exclusive control airspace management unit 102, an exclusive control airspace entry management unit 103, and a control control unit 104.

[0088] The communication unit 101 communicates with the drone 200 under the control of the control system 100. The exclusive control airspace management unit 102 stores and manages information on the definition of the exclusive control airspace (hereinafter appropriately referred to as "control airspace information"). The control airspace information includes information on special control areas and information on entering / exiting the control area (see Figure 5 ).

[0089] For example, the special control area is acquired in advance by measurement performed by a drone flying alone or by other means, and is also updated as needed based on report information from the controlled drone 200. Then, the entry / exit control area is set on the basis of the special control area (see the description of the case where the airspace is managed in a grid shape or the case where the airspace is managed in a vector format).

[0090] Note that the exclusive control airspace management unit 102 may be configured such that the exclusive control airspace management unit 102 only stores and manages information about the special control area, and sets entry / exit control areas around the special control area as needed to generate an exclusive control airspace.

[0091] The exclusive controlled airspace entry management unit 103 manages the drones 200 that are entering and the drones 200 that have pending entry applications (waiting to enter according to the standby instructions issued in response to the entry applications) for each exclusive controlled airspace. That is, the exclusive controlled airspace entry management unit 103 manages the entering drone information and the entry application pending drone information.

[0092] The entering drone information includes information such as a solid identification number, an entry permission time, an entry notification time, and an estimated exit time of the drone 200 entering each exclusive control airspace. The estimated exit time is set based on a flight plan submitted in advance to the control system 100. Alternatively, the estimated exit time is set to a time obtained as a result of mechanically adding a specific period to the entry permission time on the control system 100 side. Figure 7 An example of the entering drone information to be managed by the exclusive controlled airspace entry management unit 103 is shown. This example shows that the drone 200 with the individual identification number "1234-5678-1201" is entering the exclusive controlled airspace-1, and the drone 200 with the individual identification number "5703-2341-3410" is entering the exclusive controlled airspace-3. In addition, this example shows that the drone 200 has not entered the exclusive controlled airspace-2.

[0093] For each exclusive controlled airspace, the entry application pending drone information includes information such as the individual identification number and the entry application time of the drone 200 having the pending entry application. In this case, the information of each drone 200 is managed as a first-in-first-out (FIFO) queue for each exclusive controlled airspace, making it easy to allow the drone 200 that made an application earlier to enter the exclusive controlled airspace earlier.

[0094] Figure 8 An example of the entry application pending drone information to be managed by the exclusive controlled airspace entry management unit 103 is shown. This example shows that three drones 200 with individual identification numbers "2345-1890-2305", "7823-7832-3583" and "3511-0273-7835" are waiting to enter the exclusive controlled airspace-1 in this order. In addition, the example shows that there is no drone 200 waiting to enter the exclusive controlled airspace-2. In addition, the example shows that two drones 200 with individual identification numbers "1345-1890-2306" and "6823-7832-3584" are waiting to enter the exclusive controlled airspace-3 in this order.

[0095] Please note that the above description is based on the assumption that each drone 200 has an entity identification number (body number). However, the control system 100 also needs to perform similar control on a drone 200 that does not have an individual identification number. For a drone 200 that does not have an individual identification number, the control system 100 can use, for example, an ID number recorded on a subscriber identity module (SIM) card instead of the individual identification number to perform individual identification.

[0096] For example, the control control unit 104 determines whether to allow entry into the exclusive control airspace or whether to allow exit from the exclusive control airspace based on the application or notification received from the controlled drone 200 by communicating with the exclusive control airspace management unit 102 and the exclusive control airspace entry management unit 103 via the communication unit 101. Then, the control control unit 104 sends the determination result to the drone 200 via the communication unit 101.

[0097] In this case, for example, when receiving an entry application to enter a specific exclusive controlled airspace from a specific drone 200, the control control unit 104 generates an entry application based on the entry drone information managed by the exclusive controlled airspace entry management unit 103 (see Figure 7 ), determine whether any other UAV 200 is entering the exclusive controlled airspace.

[0098] When it is determined that no other drone 200 is entering, the control control unit 104 sends entry permission to the drone 200 that has sent the entry application. When sending the entry permission, the control control unit 104 adds the information of the drone 200 to the entering drone information to indicate that the drone 200 is entering. Thereafter, when receiving an entry notification from the drone 200, the control control unit 104 updates the entering drone information by adding the entry notification time to the information of the drone 200 in the entering drone information.

[0099] At the same time, when it is determined that any other drone 200 is entering, the control control unit 104 sends a standby instruction to the drone 200 that has sent the entry application. Then, the control control unit 104 updates the entry application pending drone information managed by the exclusive control airspace entry management unit 103 by adding the information of the drone 200 to the entry application pending drone information (see Figure 8 ) to indicate that the entry application filed by UAV 200 is pending.

[0100] In addition, for example, when receiving a request to leave a specific exclusive controlled airspace from a specific drone 200, the control control unit 104 determines whether there are any other drones 200 around the drone 200. When it is determined that there are any other drones 200 around, a standby instruction is sent to the drone 200.

[0101] At the same time, when it is determined that there are no other drones 200 around, the control control unit 104 sends a departure permission to the drone 200 that has sent a departure application or the drone 200 to which a standby instruction has been sent. Thereafter, when receiving a departure notification from a drone 200, the control control unit 104 updates the entry drone information managed by the exclusive control airspace entry management unit 103 by deleting the information of the drone 200 from the entry drone information (see Figure 7 ), to indicate that there are no other incoming drones 200.

[0102] Note that the width W of the airspace referred to herein as “surroundings” can be determined in consideration of, for example, the average moving speed of the drone 200, the average moving speed of other drones 200, and the intervals at which these drones attempt to communicate with the control system 100. For example, assuming that the estimated moving speeds of the drone 200 and other drones 200 are each 10 [m / s], communication is attempted at intervals of 1 [s], and communication is attempted three times before communication is established in the airspace referred to as “surroundings”, the width W is defined as shown in the following equation (2).

[0103] W = 10 [m / s] × 1 [s] × 3 [times] = 30 [m]…… (2)

[0104] Furthermore, when receiving a departure notification from the drone 200 that has sent a departure application, the control control unit 104 receives the departure notification based on the entry application pending drone information (see Figure 8 ), determine whether there is any drone 200 with a pending entry application. In the case where there is a drone 200 with a pending entry application, the control control unit 104 sends entry permission to the drone 200 that is in the waiting state the earliest.

[0105] Note that, in the case where the drone 200 enters the exclusive controlled airspace without submitting an entry application and receiving an entry permit from the control system 100, the control system 100 may send a warning or forced landing signal to the drone 200. The drone 200 periodically reports its own position to the control system 100. Therefore, the control system 100 can discover that the drone 200 has entered the exclusive controlled airspace without permission based on the own position report provided by the drone 200 flying in the entry / exit control area.

[0106] Furthermore, it is also conceivable that, for a long period of time after the drone 200 enters the exclusive controlled airspace, in the event of a malfunction or the like, the go-out application or go-out notification may not reach the control system 100 from the exclusive controlled airspace. As a measure against such a situation, for example, in the event that the go-out application or go-out notification is not received even after a certain period of time such as the flight time of the relevant drone 200 (the flight time is notified to the control system when the flight plan is submitted) has passed since the entry notification was provided, the control system 100 may determine that no drone 200 is still flying in the exclusive controlled airspace, and perform control again in a manner that allows another drone to enter the exclusive controlled airspace.

[0107] “Drone Configuration Example”

[0108] Fig. 9 2 shows a configuration example of a drone 200. Part or all of the processing of each unit in the drone 200 can be implemented by software processing executed by a computer. The drone 200 includes a communication unit 201, an own position estimation unit 202, a control airspace storage unit 203, a flight plan storage unit 204, a flight control unit 205, and a fuselage control unit 206.

[0109] The communication unit 201 communicates with the control system 100. The communication unit 201 transmits data according to a request of an internal block, and receives data transmitted from the control system 100. In this case, the communication unit 201 can communicate with the control system 100 directly or via a base station, a land line such as a public line, or an Internet network. In addition, the communication unit 201 also communicates with a control terminal to be used by an operator of the drone 200 to perform operations.

[0110] The own position estimation unit 202 measures the own position of the drone 200. For example, a global positioning system (GPS) or an electronic compass is used to measure the own position. The own position measured by the own position estimation unit 202 is reported to the control system 100 periodically (for example, at intervals of 1 second) via the communication unit 201.

[0111] The control airspace storage unit 203 stores control airspace information about the exclusive control airspace, etc. The control airspace information can be received from the exclusive control airspace management unit 102 of the control system 100 via the communication unit 201 or via other communication means such as the Internet. Alternatively, the control airspace information can be downloaded from the Internet, etc. to a PC, etc., and stored in a storage medium such as an SD card, so that the control airspace information can be used by installing the storage medium in the drone 200.

[0112] The flight plan storage unit 204 stores the flight plan (flight path) set by the operator of the drone 200 and the path changed by adding waypoints to the flight plan by the flight control unit 205. Here, the waypoint includes position information (such as latitude, longitude, and altitude) and attribute information indicating the type of the waypoint.

[0113] The flight plan includes a list of waypoints in chronological order. When a waypoint is added to the flight plan, it is inserted immediately after the immediately previous waypoint that the drone 200 will pass through to maintain the chronological order of the waypoints in the list.

[0114] The types of waypoints include a starting point, an end point, and a midpoint to be passed. The midpoint is set between the starting point and the end point. These waypoints are set by the operator of the drone 200. That is, these waypoints are included in the flight plan (flight path) set by the operator.

[0115] In addition, the types of waypoints include an entry application point, an entry waiting point, an entry notification point, an exit application point, and an exit notification point of the exclusive controlled airspace. The entry application point is a point at which the drone 200 applies to the control system 100 for entering the exclusive controlled airspace. The entry waiting point is a point at which the drone 200 waits when the control system 100 instructs the drone 200 to wait in response to the entry application to enter the exclusive controlled airspace. The entry notification point is a point at which the drone 200 notifies the control system 100 that the drone 200 has entered the exclusive controlled airspace. The exit application point is a point at which the drone 200 applies to the control system 100 for exiting from the exclusive controlled airspace. The exit notification point is a point at which the drone 200 notifies the control system 100 that the drone 200 has left the exclusive controlled airspace.

[0116] For example, these waypoints of the exclusive control airspace are set as a result of an intersection check performed by the flight control unit 205 based on the flight plan (flight path) set by the operator and the exclusive control airspace received from the control system 100. These settings are updated at the timing of updating the flight plan (flight path) and the exclusive control airspace. Note that when the drone 200 submits a flight plan, these waypoints of the exclusive control airspace may be set by the control control unit 104 of the control system 100, and the flight plan may be returned to the drone 200 after being changed.

[0117] Fig.10 The approximate positions of the entry application point, entry waiting point, entry notification point, exit application point, and exit notification point set on the flight path of the drone 200 intersecting the exclusive controlled airspace are shown.

[0118] The entry waiting point is set at a position immediately before the point on the flight plan path where the drone 200 enters the exclusive controlled airspace. In addition, the entry application point is set at a position on the flight plan path before the entry waiting point, taking into account the distance allowed for the drone 200 to decelerate and stop and the time required for the control system 100 to respond to the entry application.

[0119] The entry notification point is set at a position in the entry / exit control area immediately after the point where the drone 200 enters the exclusive control airspace on the flight plan path. As described above, in the entry / exit control area, the drone 200 can communicate with the control system 100 and can also report its own position to the control system 100.

[0120] The exit application point is set at a position within the entry / exit control area immediately before the point where the drone 200 leaves the exclusive controlled airspace on the flight plan path. The exit notification point is set at a position immediately after the point where the drone 200 leaves the exclusive controlled airspace on the flight plan path.

[0121] Fig.11 A list of waypoint types is shown. When setting a flight plan as described above, the operator sets waypoints of the start point, the end point, and the midpoint. In addition, when setting a flight plan as described above, waypoints of the entry application point, the entry waiting point, the entry notification point, the exit application point, and the exit notification point of the exclusive control airspace are set by the system (the flight control unit 205 of the drone 200 or the control control unit 104 of the control system 100).

[0122] The flight control unit 205 manages the execution of the flight plan and the progress of the flight plan. The flight control unit 205 checks whether the path set by the flight plan has entered the exclusive controlled airspace based on the flight plan read from the flight plan storage unit and the information about the exclusive controlled airspace read from the controlled airspace storage unit 203. Then, the flight control unit 205 generates the above-mentioned waypoints of the exclusive controlled airspace, namely, the entry application point, the entry waiting point, the entry notification point, the exit application point and the exit notification point (see Fig.10 ), and add the waypoint to the flight plan via the flight plan storage unit 204.

[0123] During the flight, the flight control unit 205 determines a waypoint to which the drone 200 should move next, and notifies the body control unit 206 of the waypoint. In addition, the flight control unit 205 determines whether the drone 200 has reached the waypoint to which the drone 200 is currently trying to move, based on the completion report from the body control unit 206 and the current own position estimated by the own position estimation unit 202. In addition, for example, based on the attribute information about the waypoint, the flight control unit 205 submits an entry application to the control system 100 via the communication unit 201, or when receiving a waiting standby instruction, instructs the body control unit 206 to stop at a waypoint corresponding to the standby position.

[0124] The body control unit 206 receives information about the waypoint to which the drone 200 should move next from the flight control unit 205, and drives the propeller by controlling the motor, thereby moving the drone 200 to the position specified by the waypoint.

[0125] "Preparatory operations for executing controls"

[0126] A preparation operation for performing control by using a combination of the control system 100 and the drone 200 will be described.

[0127] A flight plan is set in advance for the drone 200 by the operator of the drone 200, and its details are stored in the flight plan storage unit 204. The control airspace information stored in the control airspace storage unit 203 in the drone 200 is also updated with the latest information before the flight. In addition, the control airspace information can be updated with the latest information as needed based on an update notification from the control system 100 or a periodic update check.

[0128] When updating the flight plan or the controlled airspace information, the flight control unit 205 of the drone 200 checks whether the path set in the flight plan intersects with the exclusive controlled airspace. When the path set in the flight plan intersects with the exclusive controlled airspace, the flight control unit 205 generates five waypoints as waypoints required to pass through the exclusive controlled airspace, namely, the entry application point, the entry waiting point, the entry notification point, the exit application point, and the exit notification point (see Fig.10 ) and add the waypoint to the flight plan.

[0129] In the above operation, identification of the controlled airspace and generation of waypoints required for entering / leaving the exclusive controlled airspace are performed on the drone 200 side. Meanwhile, when the drone 200 submits a flight plan to the control system 100, an intersection check of the flight plan path with the exclusive controlled airspace and generation of waypoints may be performed on the control system 100 side, and then a modified version of the flight plan may be returned to the drone 200. In this case, in the control system 100, the control control unit 104 receives the flight plan via the communication unit 101, and the control control unit 104 generates waypoints required for entering / leaving the exclusive controlled airspace, and modifies the flight plan instead of the flight control unit 205 of the drone 200.

[0130] In addition, according to Figure 3 In the case where the flight plan shown in FIG. 4 sets an exclusive controlled airspace, the flight plan is first submitted from the drone 200 to the control system 100, or submitted by the operator of the drone 200 via the Internet, etc., and then the exclusive controlled airspace is generated by the control system 100. Thereafter, as described above, waypoints required to enter / leave the exclusive controlled airspace are generated in the drone 200 or the control system 100.

[0131] "Control Sequence"

[0132] Regarding the control sequence to be executed when the drone 200 passes through the exclusive controlled airspace, the following will be based on the example Fig.12 The operation of the control system 100 and the drone 200 is described with reference to the situation shown in FIG. Fig.12 The example is based on the following assumption: drone 200A and drone 200B each fly based on a flight plan to pass through exclusive controlled airspace X, and drone A is closer to exclusive controlled airspace X and passes through exclusive controlled airspace X earlier.

[0133] Fig.13 The sequence diagram shows the Fig.12 In the illustrated case, the drone 200A and the drone 200B complete the operation process to be performed before passing through the exclusive control airspace X. In the following description, the drone 200A and the drone 200B will be referred to as drone A and drone B, respectively.

[0134] First, the operation flow to be performed when UAV A passes through exclusive controlled airspace X will be described from the perspective of UAV A. When UAV A approaches exclusive controlled airspace X and flies to the entry application waypoint (see Fig.12 ), drone A submits an entry application to the control system 100. Drone A sends data including the following items when applying.

[0135] An airspace ID that identifies the exclusive controlled airspace that the drone will enter

[0136] Estimated entry time

[0137] Estimated time to go out

[0138] When the control control unit 104 receives the entry application via the communication unit 101 , the control system 100 and the control area entry management unit 103 check the flight status of the relevant exclusive controlled airspace, that is, the drone entering the relevant exclusive controlled airspace.

[0139] In the case where there is no entering drone, the control control unit 104 grants permission to the entry application and notifies drone A of the entry permission via the communication unit 101. When drone A is notified of the entry permission, the control system 100 adds drone A's information to the entering drone information of the exclusive controlled airspace X in the exclusive controlled airspace entry management unit 103 to indicate that drone A is entering. Thereafter, the control system 100 performs control assuming that drone A is flying in the exclusive controlled airspace X and wireless communication cannot be performed until communication of an exit notification from the exclusive controlled airspace X is received.

[0140] After receiving the entry permission, drone A enters the entry / exit control area of ​​the exclusive controlled airspace X and sends an entry notification to the control system 100. After sending the entry notification, drone A enters the special control area of ​​the exclusive controlled airspace X based on the flight plan and continues to fly (see Fig.14 ). In addition, upon receiving the entry notification, the control system 100 updates the entering drone information by adding the entry notification time to the information about drone A in the entering drone information.

[0141] If drone A continues to fly, drone A will pass through the special control area and enter the entry / exit control area on the periphery again. In this area, it becomes possible to communicate with the control system 100 again to send an exit application in order to put drone A under normal control again. When submitting an exit application, drone A sends its own current position to the control system 100.

[0142] The control system 100 checks whether any other drone is abnormally approaching in the direction of the path specified in the flight plan submitted by drone A based on the own position of drone A and the positions of other drones under control, which are sent simultaneously with the departure request. Then, when no other drone is abnormally approaching, the control system 100 sends a departure permission to drone A. At the same time, when any other drone is abnormally approaching, the control system 100 sends a standby instruction to drone A. In the case where the control system 100 has sent the standby instruction, thereafter, the control system 100 sends a departure permission to drone A in a state where no other drone is abnormally approaching.

[0143] In response to the exit permission from the control system 100, UAV A leaves the exclusive controlled airspace and heads to the next waypoint set in the flight plan after sending an exit notification to the control system 100 (see FIG. Fig.15 )flight.

[0144] Next, we will describe the operation flow from the perspective of drone B when drone B passes through exclusive controlled airspace X. As with drone A, when drone B approaches exclusive controlled airspace X and flies to the entry application waypoint (see Fig.14 ), UAV B submits an entry application to the control system 100 to enter the exclusive controlled airspace X.

[0145] However, at this time, since drone A has already entered the exclusive controlled airspace X, the control system 100 does not issue an entry permit, but sends a standby instruction to drone B. In addition, the control system 100 adds drone B to the entry application pending drone information of the exclusive controlled airspace X in the exclusive controlled airspace entry management unit 103. Note that, as described above, the entry application pending drone information is managed as a FIFO queue. When the standby instruction is provided, drone B stops itself immediately before entering the exclusive controlled airspace X and waits for an instruction from the control system 100.

[0146] When the control system 100 receives an exit notification from drone A that has entered the exclusive controlled airspace X earlier, the control control unit 104 deletes the entry drone information stored in the exclusive controlled airspace entry management unit 103. In addition, the control control unit 104 obtains information about the entry waiting drone at the head of the FIFO queue of entry application pending drone information, and provides entry permission to the entry waiting drone. In this example, the entry waiting drone corresponds to drone B, so the control system 100 notifies drone B of the entry permission. When the notification of entry permission is provided, the control system 100 adds the information of drone B to the entry drone information of the exclusive controlled airspace X in the exclusive controlled airspace entry management unit 103 to indicate that drone B is entering.

[0147] After receiving the entry permission, drone B enters the entry / exit control area of ​​the exclusive controlled airspace X and sends an entry notification to the control system 100. After sending the entry notification, drone B enters the special control area of ​​the exclusive controlled airspace X based on the flight plan and continues to fly. In addition, upon receiving the entry notification, the control system 100 updates the entering drone information by adding the entry notification time to the information of drone B in the entering drone information.

[0148] Afterwards, as in the case of drone A, drone B passes through the exclusive control airspace X under the control of the control system 100 .

[0149] "The process to be performed by the control system upon receipt of an entry request"

[0150] Fig.16 The flowchart of FIG. 1 shows an example of a process to be performed by the control system 100 in the case of receiving an entry application. When an entry application is received from a drone 200 in step ST1, the control system 100 determines in step ST2 whether any drone 200 enters the relevant exclusive control airspace.

[0151] When the drone 200 is not entered, the control system 100 sends the drone information (see FIG. Figure 7 ) adds information about the drone 200 that has applied for entry to the relevant exclusive control airspace. Then, in step ST4, the control system 100 sends the entry permission to the drone 200 that has applied for entry. Thereafter, the control system 100 ends the processing in step ST5.

[0152] In addition, when there is any entering drone 200 in step ST2, the control system 100 adds the drone 200 that has made an entry application to the relevant exclusive control airspace of the entry application pending drone information in step ST6 (see Figure 8 ). Then, in step ST7, the control system 100 sends a standby instruction to the drone 200 that has applied for entry. After that, the control system 100 ends the processing in step ST5. Fig.16 In the process of the flowchart of , when the entry permission is sent to the drone 200, the entry aircraft information of the exclusive controlled airspace is updated. At the same time, in the case where an entry application is received from the drone 200 that wants to enter the exclusive controlled airspace, when no other drone 200 has entered the exclusive controlled airspace, when the entry permission is sent to the drone 200, or when the entry notification is received from the drone 200, the entry aircraft information of the exclusive controlled airspace can be updated.

[0153] "Processing to be performed by the control system when an entry notification is received"

[0154] Fig.17 The flowchart of FIG. 1 shows an example of a processing procedure to be performed by the control system 100 in the case of receiving an entry notification. When an entry notification from the drone 200 is received in step ST11, the control system 100 updates the entry drone information of the relevant exclusive control airspace in step ST12. In this case, the entry notification time is added to the entry drone information (see Figure 7) to update the entry drone information. After that, the control system 100 ends the processing in step ST13. Note that control according to the present technology can be performed without any entry notification. By providing an entry notification, it is possible to set a timeout for entry permission so that if the notification is not returned within a certain period of time, the entry permission can be revoked. In this case, a shorter time different from the timeout of the time required to pass through the exclusive controlled airspace can be set so that the time utilization efficiency at the time of abnormality can be improved.

[0155] "The process to be performed by the control system when an outbound request is received"

[0156] Fig.18 The flowchart of FIG. 1 shows an example of a process to be performed by the control system 100 in the case of receiving a go-out application. When a go-out application is received from a drone 200 in step ST21, the control system 100 determines in step ST22 whether there are any other drones 200 around the drone 200 that made the go-out application.

[0157] If there are no other drones 200 around, the control system 100 sends a departure permission to the drone 200 that has applied for departure in step ST23. Thereafter, the control system 100 ends the process in step ST24.

[0158] Furthermore, when any other drone 200 exists around in step ST22, the control system 100 sends a standby instruction to the drone 200 making the exit application in step ST25. Thereafter, the control system 100 returns to the process of step ST22 and performs a process similar to the above.

[0159] "Processing to be performed by the control system when an outgoing notification is received"

[0160] Fig.19 The flowchart of FIG. 1 shows an example of a processing procedure to be performed by the control system 100 in the case of receiving an exit notification. When an exit notification is received from the drone 200 in step ST31, the control system 100 receives the exit notification from the drone 200 in step ST32. Figure 7 ) Delete the drone information.

[0161] Next, in step ST33, the control system 100 determines whether there is any drone 200 with a pending application to enter the relevant exclusive controlled airspace. When there is no drone 200 with a pending entry application, the control system 100 ends the process in step ST34.

[0162] When there is any drone 200 with a pending entry application in step ST33, the control system 100 extracts information about the drone at the head of the queue from the entry application pending drone information of the relevant exclusive controlled airspace in step ST35, and sets the drone as the next entering drone 200. Next, in step ST36, the control system 100 adds the information about the next entering drone 200 to the relevant exclusive controlled airspace entering drone information (see Figure 7 Then, in step ST37, the control system 100 sends an entry permission to the next entering drone 200. After that, the control system 100 ends the processing in step ST34. Fig.19 In the processing of the flowchart, when an exit notification is received from the drone 200 to which an exit permission is sent, the entry aircraft information for the exclusive controlled airspace is updated, but when an exit application is received from the drone 200 that wants to leave the exclusive controlled airspace, when an exit permission is sent to the drone 200, or when an exit notification is received from the drone 200 to which an exit permission is sent, the entry aircraft information for the exclusive controlled airspace may be updated.

[0163] As mentioned above, in Figure 1 In the aircraft system 10 shown, the control system 100 performs control so that only a single drone 200 enters the special control area in which the drone 200 cannot report its own position. Therefore, even in the special control area, the drone 200 can be allowed to fly safely so that the special control area can be effectively used. In this case, even if the flight plans of two or more drones 200 intersect with each other in the special control area, each drone 200 can be allowed to fly safely without causing a collision risk.

[0164] <2. Second Embodiment>

[0165] The first embodiment described above is based on the assumption that only one drone can enter the exclusive controlled airspace. However, if the drone itself has the ability to avoid other aircraft to avoid collision with other aircraft, the drone can fly safely even without any support from air traffic control if the density of drones in the exclusive controlled airspace does not exceed a certain level. Therefore, if each drone has the ability to avoid other aircraft, it can be controlled in a manner that allows multiple drones to fly in a single exclusive controlled airspace.

[0166] Although not shown, the aircraft system 10 in the second embodiment also includes a control system 100 and a Figure 1 ) in an airspace controlled by a predetermined number of drones 200, as described in the first embodiment above.

[0167] The outline of the control strategy to be implemented in the aircraft system 10 in the second embodiment is as follows. That is, if a drone that is not capable of avoiding other aircraft has entered the exclusive control airspace, the upper limit of the number of drones in the exclusive control airspace is set to 1 when the drone that is not capable of avoiding other aircraft is in the exclusive control airspace.

[0168] In addition, if a drone that has the ability to avoid other aircraft enters the exclusive controlled airspace, drones that do not have the ability to avoid other aircraft will not be allowed to enter the exclusive controlled airspace. In other words, drones that do not have the ability to avoid other aircraft will not be allowed to enter the exclusive controlled airspace until all other drones that have entered the exclusive controlled airspace have left the exclusive controlled airspace.

[0169] In addition, if a drone capable of avoiding other aircraft enters the exclusive controlled airspace, another drone capable of avoiding other aircraft is allowed to enter the exclusive controlled airspace. In this case, the upper limit of the number of drones allowed to enter the exclusive controlled airspace can be set on the controller side, taking into account the density of drones in the exclusive controlled airspace.

[0170] Although illustration and detailed description are omitted, it is assumed that the configuration of the control system 100 in the second embodiment is similar to the configuration of the control system 100 in the above-described first embodiment (see Figure 6 ). In addition, although illustration and detailed description are omitted, the configuration of the drone 200 in the second embodiment that does not have the ability to avoid other aircraft is assumed to be the same as the configuration of the drone 200 in the first embodiment described above ( Fig. 9 )similar.

[0171] Fig. 20 FIG. 2 shows an example of a configuration of a drone 200 capable of avoiding other aircraft in the second embodiment. Fig. 20 In, with Fig. 9 Components corresponding to those in the figure are denoted by the same figure numerals, and their detailed description will be omitted as appropriate.

[0172] The drone 200 includes an obstacle detection unit 207 in addition to a communication unit 201 , a self-position estimation unit 202 , a control airspace storage unit 203 , a flight plan storage unit 204 , a flight control unit 205 , and a fuselage control unit 206 .

[0173] The obstacle detection unit 207 detects obstacles and other flying drones around the drone. Sensors (not shown) such as radar, camera, light detection and ranging (LiDAR), and time of flight (ToF) may be connected to the obstacle detection unit 207. In addition, the above detection may be achieved by performing inter-drone communication (not shown) and a function of sharing the drone's own position information between the drone and the drones around it.

[0174] The flight control unit 205 instructs the body control unit 206 to avoid collision with surrounding obstacles and other drones and to go to a waypoint stored in the flight plan storage unit 204 by using information of obstacles and other drones detected by the obstacle detection unit 207 .

[0175] Using these mechanisms, even without any support from air traffic control, a drone 200 that is able to avoid other aircraft can identify the presence and location of other drones and avoid collisions based solely on communications between the drone 200 and the other drones.

[0176] In the aircraft system 10 of the second embodiment, in addition to the data items in the first embodiment (i.e., "airspace ID for identifying the exclusive controlled airspace that the drone will enter", "estimated entry time" and "estimated exit time"), the data items to be sent to the control system 100 when the drone 200 applies to enter the exclusive controlled airspace also include "the ability to avoid other aircraft".

[0177] The item "ability to avoid other aircraft" is information indicating whether the drone has the ability to avoid collision only by identifying drones flying around through the drone's own efforts. The item "ability to avoid other aircraft" has a value corresponding to the function / performance that each drone has. The item "ability to avoid other aircraft" has two values, for example, if the drone has this ability, the item is marked as "able", and if the drone does not have this ability, the item is marked as "cannot". In addition, multiple levels (for example, level 5 to level 0) can be set according to the avoidance ability. Here, level 0 indicates that the drone itself has no ability to avoid collision. Note that in the case of expressing the item "ability to avoid other aircraft" by using multiple levels, when the ability of the drone reaches or exceeds the predetermined level, the drone can be considered to "have the ability to avoid other aircraft".

[0178] Fig.21 An example of the incoming drone information to be managed by the exclusive controlled airspace entry management unit 103 of the control system 100 in the aircraft system 10 in the second implementation is shown. The incoming drone information has been expanded so that multiple drones 200 can be managed for each exclusive controlled airspace. In addition, items related to the ability to avoid other aircraft are added to the incoming drone information.

[0179] This example shows that a drone 200 with an individual identification number "1234-5678-1201" that can avoid other aircraft and a drone 200 with an individual identification number "1254-3570-8803" that can avoid other aircraft are entering exclusive controlled airspace-1. In addition, this example shows that no drone 200 enters exclusive controlled airspace-2. In addition, this example shows that a drone 200 with an individual identification number "5703-2341-3410" that cannot avoid other aircraft is entering exclusive controlled airspace-3.

[0180] Fig. 22 An example of entry application pending drone information to be managed by the exclusive controlled airspace entry management unit 103 of the control system 100 in the aircraft system 10 in the second implementation is shown. An item related to the ability to avoid other aircraft has been added to the entry application pending drone information. In this case, the information of each drone 200 is managed as a first-in-first-out (FIFO) queue for each exclusive controlled airspace.

[0181] In this example, three drones 200 with individual identification numbers "2345-1890-2305", "7823-7832-3583" and "3511-0273-7835" wait to enter the exclusive controlled airspace-1 in this order after submitting their respective entry applications to the control system 100. Here, the drones 200 with individual identification numbers "2345-1890-2305" and "3511-0273-7835" do not have the ability to avoid other aircraft, while the drone 200 with individual identification number "7823-7832-3583" has the ability to avoid other aircraft.

[0182] Furthermore, in this example, there is no drone 200 with a pending application to enter the exclusive controlled airspace-2. Furthermore, in this example, two drones 200 with individual identification numbers "1345-1890-2306" and "6823-7832-3584" wait to enter the exclusive controlled airspace-3 in this order after submitting their respective entry applications to the control system 100. Here, the drone 200 with individual identification number "1345-1890-2306" does not have the ability to avoid other aircraft, while the drone 200 with individual identification number "6823-7832-3584" has the ability to avoid other aircraft.

[0183] When a drone 200 applies to enter its respective exclusive controlled airspace, information about each drone 200 is added to the end of the FIFO queue of the corresponding exclusive controlled airspace ( Fig. 22For each dedicated control airspace, the control system 100 allows the head of the FIFO queue ( Fig. 22 In this case, the information row of the drone 200 to which permission is granted is deleted, and all the information rows of other drones 200 located below the deleted row are moved up.

[0184] Fig.23 The flowchart of shows an example of a process to be performed by the control system 100 in the case where an entry request is received in the aircraft system 10 in the second implementation. In addition, Fig.24 The flowchart of FIG. 1 shows an example of a process to be performed by the control system 100 when an outgoing notification is received in the aircraft system 10 in the second implementation.

[0185] Note that in the aircraft system 10 in the second embodiment, the processing to be performed by the control system 100 in the case of receiving an incoming notification and the processing to be performed by the control system 100 in the case of receiving an outgoing application are similar to those in the aircraft system 10 in the first embodiment (see Fig.17 and 18 ).

[0186] Reference Fig.23 The flowchart of FIG40 describes the processing to be performed by the control system 100 in the case of receiving an entry application. When receiving an entry application from a drone 200 in step ST41, the control system 100 determines in step ST42 whether any drone 200 has entered the relevant exclusive control airspace. In this case, the control system 100 makes a determination based on the entering drone information (see FIG41 ). Fig.21 ).

[0187] When the drone 200 has not entered, in step ST43, the control system 100 adds information about the drone 200 that has made an entry application to the relevant exclusive control airspace of the entry drone information (see Fig.21 ). Then, in step ST44, the control system 100 sends the entry permission to the drone 200 that has applied for entry. Thereafter, the control system 100 ends the processing in step ST45.

[0188] In addition, when there is any entry drone 200 in step ST42, the control system 100 determines in step ST46 whether the drone 200 that has made an entry application has the ability to avoid other aircraft. In this case, the control system 100 makes the determination by using the information about the ability to avoid other aircraft received at the time of the application.

[0189] When the drone 200 that has applied for entry does not have the ability to avoid other aircraft, the control system 100 does not allow the drone 200 that has applied for entry to enter, so as to prevent collision with other drones. That is, when the drone 200 that has applied for entry does not have the ability to avoid other aircraft, in step ST49, the control system 100 adds the drone 200 that has applied for entry to the relevant exclusive control airspace of the entry application pending drone information (see Fig. 22 ). Then, in step ST50, the control system 100 sends a standby instruction to the drone 200 that has applied for entry. Thereafter, the control system 100 ends the processing in step ST45.

[0190] In addition, when the drone 200 that has applied for entry in step ST46 can avoid other aircraft, the control system 100 determines in step ST47 whether the drone 200 that has entered the relevant exclusive controlled airspace can avoid other aircraft. In this case, the control system 100 checks the entering drone information in the relevant exclusive controlled airspace for each drone 200 (see Fig.21 ) to determine the ability to avoid other aircraft.

[0191] When the entering drone 200 does not have the ability to avoid other aircraft, the control system 100 does not allow the drone 200 that has applied for entry to enter, so as to prevent collision with other drones. That is, when the entering drone 200 does not have the ability to avoid other aircraft, the control system 100 adds the drone 200 that has applied for entry to the relevant exclusive control airspace of the entry application pending drone information in step ST49 (see Fig. 22 ), and in step ST50, sends a standby instruction to the drone 200 that has applied for entry. Thereafter, the control system 100 ends the processing in step ST45.

[0192] In addition, when the entering drone 200 can avoid other aircraft in step ST47, the control system 100 determines in step ST48 whether the number of drones 200 entering the relevant exclusive control airspace is equal to or less than a predetermined number. In this case, the control system 100 determines whether the number of drones 200 entering the relevant exclusive control airspace is equal to or less than a predetermined number. Fig.21 ) is determined by the number of drones 200 recorded in the exclusive control airspace. Note that the predetermined number can be set to a value common to all exclusive control airspaces. In addition, the predetermined number can be set separately for each exclusive control airspace. In addition, the predetermined number can be automatically set to a value proportional to the size of the exclusive control airspace, for example.

[0193] In the case where the number of drones 200 entering has reached the predetermined number, the control system 100 determines that the density of drones 200 flying in the exclusive controlled airspace is high, and if another drone 200 enters the exclusive controlled airspace, it is difficult to avoid collision based on the drone 200's ability to avoid other aircraft. Therefore, the control system 100 does not allow the drone 200 that has applied for entry to enter the exclusive controlled airspace. That is, when the number of drones 200 entering has reached the predetermined number, the control system 100 adds the drone 200 that has applied for entry to the relevant exclusive controlled airspace of the entry application pending drone information in step ST49 (see Fig. 22 ), and in step ST50, sends a standby instruction to the drone 200 that has applied for entry. Thereafter, the control system 100 ends the processing in step ST45.

[0194] Furthermore, when the number of the entering drones 200 does not reach the predetermined number in step ST48, the control system 100 adds information on the drones 200 that have made an entry application to the entering drone information (see Fig.21 Then, in step ST44, the control system 100 sends the entry permission to the drone 200 that has applied for entry. Thereafter, the control system 100 ends the processing in step ST45.

[0195] Based on Fig.23 According to the processing of the flowchart, even in the case where any drone 200 enters the relevant exclusive controlled airspace, if the drone 200 that has made an entry application can avoid other aircraft, the entering drone 200 can avoid other aircraft, and the number of drones 200 entering the relevant exclusive controlled airspace is equal to or less than a predetermined number, the drone 200 that has made an entry application is allowed to enter. This is because the ability to avoid other aircraft enables the drones 200 to avoid colliding with each other in such a situation. As a result, in the second embodiment, control is performed in a manner that allows a plurality of drones 200 to fly in a single exclusive controlled airspace in the aircraft system 10.

[0196] Reference Fig.24 The flowchart of FIG. 100 describes the processing to be performed by the control system 100 in the case of receiving an exit notification. When an exit notification is received from the drone 200 in step ST61, the control system 100 receives the entry drone information of the relevant exclusive control airspace (see FIG. 100 ) in step ST62. Fig.21 ) Delete the drone information.

[0197] Next, in step ST63, the control system 100 determines whether there are any drones 200 that have a pending application to enter the relevant exclusive controlled airspace. In this case, the control system 100 makes a determination based on the entry application pending drone information (see Fig. 22 ). When there is no drone 200 with a pending entry application, the control system 100 ends the process in step ST64.

[0198] When there is any drone 200 with a pending entry application in step ST63, after the process of the entry permission / rejection determination loop is executed, the process ends in step ST64. In the entry permission / rejection determination loop, the process of entry permission / rejection determination is respectively executed in sequence from the head of the FIFO queue. Note that in the following description of the process of entry permission / rejection determination, the drone 200 for which entry determination is made is referred to as the target drone 200X as appropriate.

[0199] In step ST71, the control system 100 determines whether there is any drone 200 entering the exclusive control airspace. In this case, the control system 100 makes a determination based on the entering drone information (see Fig.21 ).

[0200] Note that a series of processing of entry permission / rejection determination is sequentially performed from the head of the queue of entry application pending drone information, including the processing to be described below. Therefore, in the case where entry permission is granted to the previously processed target drone 200X, the target drone 200X to which entry permission is granted is written in the entry drone information as described below. Therefore, when entry determination is performed on the target drone 200X to be processed later, processing is performed on the assumption that there is an entry drone 200.

[0201] When there is no drone 200 entering the exclusive control airspace in step ST71, the control system 100 allows the drone 200X to enter. That is, when there is no drone 200 entering, in step ST72, the control system 100 adds the target drone 200X to the entering drone information (see Fig.21 )’s relevant exclusive controlled airspace.

[0202] Then, in step ST73, the control system 100 enters the pending drone information (see Fig. 22 ) deletes the target drone 200X from the relevant exclusive control airspace. Then, in step ST74, the control system 100 sends an entry permit to the target drone 200X.

[0203] In addition, when there is any drone 200 entering the relevant exclusive control airspace in step ST71, the control system 100 determines in step ST75 whether the target drone 200X is capable of avoiding other aircraft. In this case, the control system 100 makes a determination based on the entry application pending drone information (see Fig. 22 ).

[0204] When the target drone 200X does not have the ability to avoid other aircraft, the control system 100 does not allow the target drone 200X to enter to prevent collision with other drones. Specifically, the entry permission / rejection determination process for the target drone 200X ends, and the target drone 200X is changed to the next drone 200 existing in the drone queue with a pending entry application.

[0205] In addition, when the target drone 200X is capable of avoiding other aircraft in step ST75, the control system 100 determines in step ST76 whether the drone 200 entering the relevant exclusive control airspace is capable of avoiding other aircraft. In this case, the control system 100 determines whether the drone 200 entering the relevant exclusive control airspace is capable of avoiding other aircraft. Fig.21 ) to determine the ability to avoid other aircraft.

[0206] When the entering drone 200 is unable to avoid other aircraft, the control system 100 does not allow the target drone 200X to enter to prevent collision with other drones. Specifically, the entry permission / rejection determination process for the target drone 200X ends, and the target drone 200X is changed to the next drone 200 existing in the drone queue with a pending entry application.

[0207] In addition, when the entering drone 200 has the ability to avoid other aircraft in step ST76, the control system 100 determines in step ST77 whether the number of drones 200 entering the exclusive control airspace is equal to or less than a predetermined number. In this case, the control system 100 determines whether the number of drones 200 entering the exclusive control airspace is equal to or less than a predetermined number based on the entering drone information of the relevant exclusive control airspace (see Fig.21 ) is determined by the number of drones 200 recorded in the exclusive control airspace. Note that the predetermined number (upper limit of the number of drones) can be set to a value common to all exclusive control airspaces. In addition, the predetermined number can be set separately for each exclusive control airspace. In addition, the predetermined number can be automatically set to a value proportional to the size of the exclusive control airspace, for example.

[0208] In the case where the number of entering drones 200 has reached a predetermined number, the control system 100 determines that the density of drones 200 flying in the exclusive controlled airspace is high, and if another drone 200 enters the exclusive controlled airspace, it is difficult to avoid collision based on the ability of the drone 200 to avoid other aircraft. Therefore, the control system 100 does not allow the target drone 200X to enter the exclusive controlled airspace. Specifically, the entry permission / rejection determination process of the target drone 200X ends, and the target drone 200X is changed to the next drone 200 existing in the drone queue with a pending entry application.

[0209] Furthermore, when the number of the entering drones 200 has not reached the predetermined number in step ST77, the control system 100 allows the target drone 200X to enter. That is, when the number of the entering drones 200 has not reached the predetermined number, in step ST72, the control system 100 adds the target drone 200X to the entering drone information (see Fig.21 Then, in step ST73, the control system 100 enters the relevant exclusive control airspace for the pending drone information application (see Fig. 22 ) Delete the target drone 200X. Then, in step ST74, the control system 100 sends entry permission to the target drone 200X.

[0210] Based on Fig.24 According to the processing of the flowchart, even in the case where there is any drone 200 entering the relevant exclusive control airspace, the target drone 200X is allowed to enter if the target drone 200X has the ability to avoid other aircraft, the entering drone 200 has the ability to avoid other aircraft, and the number of drones 200 entering the relevant exclusive control airspace is equal to or less than the predetermined number. This is because the ability to avoid other aircraft enables the drones 200 to avoid colliding with each other in this case. As a result, in the second embodiment, control is performed in a manner that allows multiple drones 200 to fly in a single exclusive control airspace in the aircraft system 10.

[0211] In addition, according to Fig.24 In the processing of the flowchart, even if a drone 200 that does not have the ability to avoid other aircraft exists in front of the queue for entering the pending drone information application, the drone 200 behind the queue is given priority to enter if the drone 200 can avoid other aircraft.

[0212] Note that in order to avoid the situation where the drone 200 having the function of avoiding other aircraft blocks the previous drone 200 that does not have the function of avoiding other aircraft from entering for a long time, Fig.24In the process of the flowchart of , when it is determined that the drone 200 does not have the ability to avoid other aircraft, the process can exit the permission / denial determination loop.

[0213] Furthermore, the control system 100 may be configured such that the number of times that a drone 200 that does not have the ability to avoid other aircraft is not allowed to enter in the entry permission / rejection determination loop is counted, and when the number reaches a predetermined number, the process exits the entry permission / rejection determination loop so that entry determination is not made (entry permission is not granted) for a drone 200 behind the queue of entry application pending drone information before allowing the drone 200 that does not have the ability to avoid other aircraft to enter. The addition of these processes makes it possible to prevent a drone 200 that does not have the ability to avoid other aircraft from waiting to enter for more than a certain length of time.

[0214] The control system 100 performs the above Fig.23 and 24 Therefore, if the drone 200 has the ability to avoid other aircraft, multiple drones 200 can exist and fly simultaneously in the exclusive controlled airspace, thereby improving the efficiency of using the exclusive controlled airspace. In addition, at the same time, the drone 200 can also be allowed to fly safely even if the drone 200 does not have the ability to avoid other aircraft and requires exclusive use of the exclusive controlled airspace.

[0215] <3. Changes>

[0216] Note that, in the above-mentioned embodiment, an example has been shown in which the aircraft is a drone. Although detailed description is omitted, the present technology can also be applied to other aircraft in a similar manner.

[0217] In addition, although the preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, the technical scope of the present disclosure is not limited to such examples. It is obvious to a person skilled in the art in the field of the present disclosure that various modifications or changes can be conceived within the scope of the technical ideas described in the claims. Of course, it is to be understood that these modifications or changes are also within the technical scope of the present disclosure.

[0218] In addition, the effects described in this specification are merely explanatory or illustrative, and not restrictive. That is, together with or in place of the above effects, other effects that are obvious to those skilled in the art from the description in this specification can be achieved according to the technology disclosed in this specification.

[0219] Furthermore, the present technology can also adopt the following configurations.

[0220] (1) An information processing device comprising:

[0221] A control control unit performs control so as to limit the number of aircraft entering an exclusive controlled airspace, the exclusive controlled airspace including an area where aircraft cannot report their own positions.

[0222] (2) The information processing device according to (1) above, wherein

[0223] The control control unit limits the number of aircraft entering the exclusive controlled airspace to one.

[0224] (3) The information processing device according to (2) above, wherein

[0225] In the case where the control control unit receives an entry request from one of the aircraft that wants to enter the exclusive controlled airspace, when no aircraft except the one of the aircraft has entered the exclusive controlled airspace, the control control unit sends an entry permit to the one of the aircraft.

[0226] (4) The information processing device according to (3) above, wherein

[0227] When any aircraft other than the one of the aircraft enters the exclusive controlled airspace, a standby instruction is sent to the one of the aircraft.

[0228] (5) The information processing device according to (3) above, wherein

[0229] The control control unit updates the entry aircraft information of the exclusive controlled airspace when the control control unit receives an entry application from one of the aircraft that wants to enter the exclusive controlled airspace, when no aircraft except the one of the aircraft has entered the exclusive controlled airspace, when entry permission is sent to the aircraft, or when an entry notification is received from the aircraft.

[0230] (6) The information processing device according to (5) above, wherein

[0231] Exclusive control airspace includes special control areas and entry / exit control areas. Special control areas are areas where self-position reporting is not allowed. Entry / exit control areas are set around special control areas.

[0232] receiving an entry request before the one of the aircraft enters the entry / exit controlled area, and

[0233] An entry notification is received after the one of the aircraft enters an entry / exit controlled area.

[0234] (7) The information processing device according to any one of (2) to (6) above, wherein

[0235] In the case where the control control unit receives a departure request from one of the aircraft that wants to leave the exclusive controlled airspace, the control control unit sends a departure permission to the one of the aircraft when there are no other aircraft around the one of the aircraft.

[0236] (8) The information processing device according to (7) above, wherein

[0237] When any other aircraft exists around the one of the aircraft, the control control unit sends a standby instruction to the one of the aircraft.

[0238] (9) The information processing device according to (7) above, wherein

[0239] The control control unit updates the entering aircraft information of the exclusive controlled airspace when an exit request is received from one of the aircraft seeking to leave the exclusive controlled airspace, when an exit permission is sent to the aircraft, or when an exit notification is received from one of the aircraft to which an exit permission has been sent.

[0240] (10) The information processing device according to (9) above, wherein

[0241] When there are a predetermined number of aircraft in the entry waiting state, the control control unit sends an entry permission to the aircraft in the waiting state earliest.

[0242] (11) An information processing device according to (9) above, wherein

[0243] Exclusive control airspace includes special control areas and entry / exit control areas. Special control areas are areas where self-position reporting is not allowed. Entry / exit control areas are set around special control areas.

[0244] receiving an exit request after the one of the aircraft enters an entry / exit controlled area, and

[0245] An exit notification is received after the one of the aircraft leaves the entry / exit controlled area.

[0246] (12) The information processing device according to (1) above, wherein

[0247] In the case where an aircraft that does not have the ability to avoid other aircraft has entered the exclusive controlled airspace, when an aircraft that does not have the ability to avoid other aircraft exists in the exclusive controlled airspace, the control control unit limits the number of aircraft entering the exclusive controlled airspace to one.

[0248] (13) The information processing device according to (1) above, wherein

[0249] In a case where an aircraft having the ability to avoid other aircraft has entered the exclusive controlled airspace, the control control unit allows the aircraft having the ability to avoid other aircraft to enter the exclusive controlled airspace.

[0250] (14) An information processing device according to (13) above, wherein

[0251] When the number of aircraft that have entered the exclusive controlled airspace and have the ability to avoid other aircraft reaches an upper limit, the control control unit does not allow aircraft that have the ability to avoid other aircraft to enter the exclusive controlled airspace.

[0252] (15) The information processing device according to (1) above, wherein

[0253] In the case where an aircraft having the ability to avoid other aircraft has entered the exclusive controlled airspace, the control control unit does not allow an aircraft without the ability to avoid other aircraft to enter the exclusive controlled airspace.

[0254] (16) An information processing device according to (15) above, wherein

[0255] The control control unit does not allow aircraft that do not have the ability to avoid other aircraft to enter the exclusive controlled airspace until all aircraft that have entered the exclusive controlled airspace have left the exclusive controlled airspace.

[0256] (17) The information processing device according to any one of (1) to (16) above,

[0257] Exclusively controlled airspace is airspace that includes areas where an aircraft cannot communicate wirelessly or where an aircraft cannot obtain its own position.

[0258] (18) The information processing device according to any one of (1) to (17) above,

[0259] The aircraft is a drone.

[0260] (19) An information processing method comprising:

[0261] A regulatory control step that controls so as to limit the number of aircraft that enter an exclusively controlled airspace, which includes areas where aircraft cannot report their own positions.

[0262] (20) A program for causing a computer to:

[0263] A control control device that controls so as to limit the number of aircraft that enter the exclusive controlled airspace, which includes an area where aircraft cannot report their own positions.

[0264] (21) An aircraft system comprising:

[0265] control systems; and

[0266] The presence of a predetermined number of aircraft in the control airspace of the control system,

[0267] Among them, exclusive control airspace is set in the controlled airspace, which includes areas where aircraft cannot report their own positions to the control system.

[0268] When an aircraft passes through an exclusive controlled airspace, the aircraft sends an entry request and an exit request to the control system, and

[0269] The control system performs control so that the number of aircraft entering the exclusive controlled airspace is limited based on entry requests and exit requests sent from the aircraft.

[0270] Reference designation list

[0271] 10 Aircraft Systems

[0272] 100 control systems

[0273] 101 Communication Unit

[0274] 102 Exclusive Controlled Airspace Management Unit

[0275] 103 Exclusive Controlled Airspace Entry Management Unit

[0276] 104 Control control unit

[0277] 200, 200A, 200B UAVs

[0278] 201 Communication Unit

[0279] 202 Self-position estimation unit

[0280] 203 Control airspace storage unit

[0281] 204 Flight plan storage unit

[0282] 205 Flight Control Unit

[0283] 206 fuselage control unit

[0284] 207 Obstacle Detection Unit

Claims

1. An information processing device, comprising: a control control unit that performs control so as to limit the number of aircraft that enter an exclusive controlled airspace, the exclusive controlled airspace including an area where aircraft cannot report their own positions, The control control unit limits the number of aircraft that can enter the exclusive controlled airspace to 1, and In a case where the control control unit receives a departure request from one of the aircraft that wants to leave the exclusive controlled airspace, the control control unit sends a departure permission to the one of the aircraft when there are no other aircraft around the one of the aircraft, and When any other aircraft exists around the one of the aircraft, the control control unit sends a standby instruction to the one of the aircraft, Among them, the exclusive control airspace includes special control areas and entry / exit control areas. Special control areas are areas where self-position reporting cannot be performed, and entry / exit control areas are set around special control areas. receiving an entry request before the one of the aircraft enters the entry / exit controlled area, and An entry notification is received after the one of the aircraft enters an entry / exit controlled area.

2. The information processing device according to claim 1, wherein In the case where the control control unit receives an entry request from one of the aircraft that wants to enter the exclusive controlled airspace, when no aircraft except the one of the aircraft has entered the exclusive controlled airspace, the control control unit sends an entry permit to the one of the aircraft.

3. The information processing device according to claim 2, wherein When any aircraft other than the one of the aircraft enters the exclusive controlled airspace, a standby instruction is sent to the one of the aircraft.

4. The information processing device according to claim 2, wherein The control control unit updates the entry aircraft information of the exclusive controlled airspace when the control control unit receives an entry application from one of the aircraft that wants to enter the exclusive controlled airspace, when no aircraft except the one of the aircraft has entered the exclusive controlled airspace, when entry permission is sent to the aircraft, or when an entry notification is received from the aircraft.

5. The information processing device according to claim 1, wherein The control control unit updates the entering aircraft information of the exclusive controlled airspace when an exit request is received from one of the aircraft seeking to leave the exclusive controlled airspace, when an exit permission is sent to the aircraft, or when an exit notification is received from one of the aircraft to which an exit permission has been sent.

6. The information processing device according to claim 5, wherein When there are a predetermined number of aircraft in the entry waiting state, the control control unit sends an entry permission to the aircraft in the waiting state earliest.

7. The information processing device according to claim 5, wherein Exclusive control airspace includes special control areas and entry / exit control areas. Special control areas are areas where self-position reporting is not allowed. Entry / exit control areas are set around special control areas. receiving an exit request after the one of the aircraft enters an entry / exit controlled area, and An exit notification is received after the one of the aircraft leaves the entry / exit controlled area.

8. The information processing device according to claim 1, wherein In the case where an aircraft that does not have the ability to avoid other aircraft has entered the exclusive controlled airspace, when an aircraft that does not have the ability to avoid other aircraft exists in the exclusive controlled airspace, the control control unit limits the number of aircraft entering the exclusive controlled airspace to one.

9. The information processing device according to claim 1, wherein In a case where an aircraft having the ability to avoid other aircraft has entered the exclusive controlled airspace, the control control unit allows the aircraft having the ability to avoid other aircraft to enter the exclusive controlled airspace.

10. The information processing device according to claim 9, wherein When the number of aircraft that have entered the exclusive controlled airspace and have the ability to avoid other aircraft reaches an upper limit, the control control unit does not allow aircraft that have the ability to avoid other aircraft to enter the exclusive controlled airspace.

11. The information processing device according to claim 1, wherein In the case where an aircraft having the ability to avoid other aircraft has entered the exclusive controlled airspace, the control control unit does not allow an aircraft without the ability to avoid other aircraft to enter the exclusive controlled airspace.

12. The information processing device according to claim 11, wherein The control control unit does not allow aircraft that do not have the ability to avoid other aircraft to enter the exclusive controlled airspace until all aircraft that have entered the exclusive controlled airspace have left the exclusive controlled airspace.

13. The information processing device according to claim 1, wherein Exclusively controlled airspace is airspace that includes areas where an aircraft cannot communicate wirelessly or areas where an aircraft cannot acquire its own position.

14. The information processing device according to claim 1, wherein The aircraft is a drone.

15. An information processing method, comprising: Control steps to limit the number of aircraft entering exclusive controlled airspace, including areas where aircraft cannot report their own positions, Among them, the number of aircraft that can enter the exclusive controlled airspace is limited to 1, and The method further comprises: upon receiving a departure request from one of the aircraft that wants to leave the exclusive controlled airspace, sending a departure clearance to the one of the aircraft when there are no other aircraft around the one of the aircraft, and When any other aircraft exists around the one of the aircraft, sending a standby instruction to the one of the aircraft, Among them, the exclusive control airspace includes special control areas and entry / exit control areas. Special control areas are areas where self-position reporting cannot be performed, and entry / exit control areas are set around special control areas. receiving an entry request before the one of the aircraft enters the entry / exit controlled area, and An entry notification is received after the one of the aircraft enters an entry / exit controlled area.

16. A program product for causing a computer to: a control control device that controls so as to limit the number of aircraft that enter an exclusive controlled airspace, the exclusive controlled airspace including an area where aircraft cannot report their own positions, in, The control device limits the number of aircraft entering the exclusive controlled airspace to one, and In a case where the control control device receives a departure request from one of the aircraft that wants to leave the exclusive controlled airspace, the control control device sends a departure permission to the one of the aircraft when there are no other aircraft around the one of the aircraft, and When any other aircraft exists around the one of the aircraft, the control control device sends a standby instruction to the one of the aircraft, Among them, the exclusive control airspace includes special control areas and entry / exit control areas. Special control areas are areas where self-position reporting cannot be performed, and entry / exit control areas are set around special control areas. receiving an entry request before the one of the aircraft enters the entry / exit controlled area, and An entry notification is received after the one of the aircraft enters an entry / exit controlled area.

17. An aircraft system, comprising: Control systems; and The presence of a predetermined number of aircraft in the control airspace of the control system, Among them, exclusive control airspace is set in the controlled airspace, which includes areas where aircraft cannot report their own positions to the control system. When an aircraft passes through an exclusive controlled airspace, the aircraft sends an entry request and an exit request to the control system, and The control system controls so that the number of aircraft entering the exclusive controlled airspace is limited based on entry requests and exit requests sent from the aircraft, The control system limits the number of aircraft that can enter the exclusive controlled airspace to 1, and In the event that the control system receives a departure request from one of the aircraft that wants to leave the exclusive controlled airspace, when there are no other aircraft around the one of the aircraft, the control system sends a departure permission to the one of the aircraft, and When there are any other aircraft around the one of the aircraft, the control system sends a standby instruction to the one of the aircraft, Among them, the exclusive control airspace includes special control areas and entry / exit control areas. Special control areas are areas where self-position reporting cannot be performed, and entry / exit control areas are set around special control areas. receiving an entry request before the one of the aircraft enters the entry / exit controlled area, and An entry notification is received after the one of the aircraft enters an entry / exit controlled area.

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